3-dimensional hybrid camera and production system

Abstract

A three-dimensional imaging system includes a ladar sensor with a first field of view adapted to produce a three-dimensional image. The system also includes a visible light camera with a second field of view overlapping the first field of view and adapted to produce a two-dimensional image output. At least one digital processor is connected to the ladar sensor and the visible light camera and adapted to merge the three-dimensional image output with the two-dimensional image output into a three-dimensional point cloud output.

What is claimed is: 
     
       1. A three-dimensional imaging system comprising:
 a ladar sensor having a first field of view, said ladar sensor including
 a laser transmitter configured to produce a modulated laser light output upon command from a system controller, said laser transmitter providing a zero range reference output indicating the initiation of laser light output, 
 an optical receiver comprised of an array of optical detector elements, each of said detector elements connected to a unit cell electrical circuit, 
 each unit cell electrical circuit also connected to said zero range reference output, 
 each unit cell electrical circuit adapted to measure the range to a reflecting surface in the first field of view and to produce a pixel range output, and 
 a readout integrated circuit connected to each unit cell electrical circuit and adapted to produce a three-dimensional image output comprised of a plurality of the pixel range outputs; 
 
 a visible light camera having a second field of view overlapping the first field of view and adapted to produce a two-dimensional image output; and 
 at least one digital processor connected via a first communications link to said at least one ladar sensor and connected via a second communications link to said visible light camera; 
 said at least one digital processor adapted to merge the three-dimensional image output with the two-dimensional image output into a three-dimensional point cloud output. 
 
     
     
       2. The three-dimensional imaging system of  claim 1  wherein said first communications link and said second communications link are electrical connections. 
     
     
       3. The three-dimensional imaging system of  claim 1  wherein said first communications link and said second communications link have at least one fiber optic waveguide. 
     
     
       4. The three-dimensional imaging system of  claim 1  wherein said digital processor merges said three-dimensional output with said two-dimensional output using spatial overlay. 
     
     
       5. The three-dimensional imaging system of  claim 1  wherein said digital processor merges said three-dimensional image output with said two-dimensional image output by using a compression algorithm to compress the two-dimensional image output. 
     
     
       6. The three-dimensional imaging system of  claim 1  wherein said digital processor merges said three-dimensional image output with said two-dimensional image output using wavelets. 
     
     
       7. The three-dimensional imaging system of  claim 1  wherein said two dimensional array of optical detector elements is comprised of avalanche photodiodes. 
     
     
       8. A three-dimensional imaging system comprising:
 a first ladar sensor having a first field of view and first optical axis; 
 a second ladar sensor having a second field of view and second optical axis, the second field of view overlapping the first field of view, and the second optical axis having a converging angle with respect to the first optical axis; 
 said first ladar sensor and second ladar sensor each having
 a laser transmitter configured to produce a modulated laser light output upon command from a system controller, said laser transmitter providing a zero range reference output indicating the initiation of laser light output, 
 an optical receiver comprised of an array of optical detector elements, 
 a plurality of unit cell electrical circuits, each unit cell electrical circuit connected to one of said optical detector elements and said zero range reference output, 
 each unit cell electrical circuit adapted to measure the range to a reflecting surface in the field of view and to produce a pixel range output, and 
 a readout integrated circuit connected to each unit cell electrical circuit, and adapted to produce a three-dimensional image output comprised of a plurality of the pixel range outputs; 
 
 a visible light camera having a field of view overlapping at least one of the first field of view and the second field of view, and adapted to produce a two-dimensional image output; and 
 a digital processor connected via a first communications link to said first ladar sensor, connected to said second ladar sensor via a second communications link, and connected via a third communications link to said visible light camera; 
 said digital processor adapted to merge said three-dimensional image outputs with said two-dimensional image output into a three-dimensional point cloud output. 
 
     
     
       9. The three-dimensional imaging system of  claim 8  wherein said first communications link and said second communications link are electrical connections. 
     
     
       10. The three-dimensional imaging system of  claim 8  wherein said first communications link and said second communications link have at least one fiber optic waveguide. 
     
     
       11. The three-dimensional imaging system of  claim 8  wherein said digital processor merges said three-dimensional image outputs with said two-dimensional image output using spatial overlay. 
     
     
       12. The three-dimensional imaging system of  claim 8  wherein said digital processor merges said three-dimensional image outputs with said two-dimensional image output by using a compression algorithm to compress the two-dimensional image output. 
     
     
       13. The three-dimensional imaging system of  claim 8  wherein said digital processor merges said three-dimensional image output with said two-dimensional image output using wavelets. 
     
     
       14. The three-dimensional imaging system of  claim 8  wherein said array of optical detector elements is comprised of avalanche photodiodes. 
     
     
       15. An object recognition system comprising:
 a ladar sensor having a first field of view, said ladar sensor including
 a laser transmitter producing a modulated laser light output upon command from a system controller, said laser transmitter providing a zero range reference output indicating the initiation of laser light output, 
 an optical receiver comprised of an array of optical detector elements, 
 a plurality of unit cell electrical circuits, each unit cell electrical circuit connected to one of said optical detector elements and said zero range reference output, 
 each of said unit cell electrical circuits adapted to measure the range to a reflecting surface in the first field of view and to produce a pixel range output, and 
 a readout integrated circuit connected to each unit cell electrical circuit, and adapted to produce a three-dimensional image output comprised of a plurality of said pixel range outputs; 
 
 a visible light camera having a second field of view overlapping the first field of view and adapted to produce a two-dimensional image output; 
 a digital processor connected via a first communications link to said ladar sensor and connected via a second communications link to said at least one visible light camera; 
 said digital processor adapted to merge said three-dimensional image output with said two-dimensional image output into a three-dimensional point cloud output frame; and 
 and an image processor adapted to search a plurality of three-dimensional point cloud output frames and to identify a number of objects in the first field of view. 
 
     
     
       16. The three-dimensional imaging system of  claim 15  wherein said first communications link and said second communications link are electrical connections. 
     
     
       17. The three-dimensional imaging system of  claim 15  wherein said first communications link and said second communications link have at least one fiber optic waveguide. 
     
     
       18. The three dimensional imaging system of  claim 15  wherein said digital processor merges said three-dimensional image outputs with said two-dimensional image output using spatial overlay. 
     
     
       19. The three dimensional imaging system of  claim 15  wherein said digital processor merges said three-dimensional image outputs with said two-dimensional image output by using a compression algorithm to compress the two-dimensional image output. 
     
     
       20. The three dimensional imaging system of  claim 15  wherein said digital processor merges said three-dimensional image output with said two-dimensional image output using wavelets.